CN109018811A - Intelligent warehousing system - Google Patents
Intelligent warehousing system Download PDFInfo
- Publication number
- CN109018811A CN109018811A CN201810900341.2A CN201810900341A CN109018811A CN 109018811 A CN109018811 A CN 109018811A CN 201810900341 A CN201810900341 A CN 201810900341A CN 109018811 A CN109018811 A CN 109018811A
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- Prior art keywords
- locker
- slide unit
- drive
- warehousing system
- axis slide
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent warehousing system, including container, for storing cargo and being multiple lockers arranged side by side, for picking up depositing goods taking device and being moved for controlling locker to adjust the displacement device of the distance between two neighboring locker for cargo in container interior.Intelligent warehousing system of the invention, space utilization rate is big, and work efficiency is high, and system operation is steadily reliable.
Description
Technical field
The invention belongs to intelligent storage technical fields, specifically, the present invention relates to a kind of intelligent warehousing systems.
Background technique
In China, with the continuous expansion of scale of economic development, market economy is more and more flourishing, all kinds of markets and electronics quotient
Business becomes economic carrier important in market.Especially in recent years, large size is transnational, chain department store sets up one after another, is city
The daily life of resident brings great convenience, and at the same time, market is that the storage space that customer provides is limited, it is difficult to be met
When actual demand, especially festivals or holidays, such issues that it is more prominent.Meanwhile e-commerce extensive development, self-service access type
Express delivery transmitting-receiving industry is also born therewith, but self-service access express delivery cabinet at present, often relies on some and fixes metope and single side and fix and sets
It sets, storage chamber is traditional cabinet style, and storage space is limited, and access cargo automatic degree is inadequate.The work of picking of how withdrawing deposit object
Make efficiency, realizes automatic high-efficiency storage, become one of the major issue that need to currently consider.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of intelligence
Energy warehousing system, it is therefore an objective to improve working efficiency.
To achieve the goals above, the technical scheme adopted by the invention is as follows: intelligent warehousing system, including container, for depositing
Goods putting object and it is multiple lockers arranged side by side, for pick up cargo deposits goods taking device and for controlling storage in container interior
Object cabinet is moved to adjust the displacement device of the distance between two neighboring locker.
The displacement device includes the scissor type telescopic mechanism and and scissor-type connecting with two adjacent lockers
Telescoping mechanism connects and for controlling the pushing handle telescopic control mechanism that scissor type telescopic mechanism is extended or shunk, scissor type telescopic machine
Structure is arranged multiple and each scissor type telescopic mechanism and connect respectively with every two adjacent lockers.
The pushing handle telescopic control mechanism includes power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, force-increasing mechanism
Multiple and each force-increasing mechanism is arranged to connect with a scissor type telescopic mechanism respectively, power transfer mechanism setting it is multiple and
Each power transfer mechanism is connect with a force-increasing mechanism respectively, and switching mechanism is transmitted for controlling power assembly and each power
Mechanism switches between bonding state and discrete state.
The power assembly includes drive shaft, the driving gear being sheathed in drive shaft and becomes with the first of driving axis connection
Position motor, driving gear is with drive shaft synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft.
The power transfer mechanism include with the displacement rack gear of the driving gear engagement, connect with the force-increasing mechanism and
It is connect for the reinforcement bar being rotatably arranged on the locker and with displacement rack gear and for making its rotation to the application of reinforcement bar
The pull rod of the pulling force turned, pull rod and displacement rack gear are that horizontally disposed and the length direction of pull rod and the axis of the drive shaft mutually hang down
Directly, multiple power transfer mechanisms are to be sequentially arranged along the vertical direction.
The force-increasing mechanism include the drive block being movably set on the locker and be movably arranged and with drive
The sliding shoe that motion block matches, the moving direction of sliding shoe and the moving direction of drive block are perpendicular, sliding shoe and the scissor
The connection of formula telescoping mechanism, drive block is located at the top of scissor type telescopic mechanism and drive block is connect with the power transfer mechanism.
The switching mechanism includes the second displacement motor, the screw shaft connecting with the second displacement motor and is sheathed on the drive
It is the nut seat being threadedly coupled on moving axis and with screw shaft, when the second displacement motor operates, the driving gear is pushed away by nut seat
It is dynamic and the axial direction along drive shaft is moved.
The goods taking device of depositing includes the first driving mechanism, is set to Y-axis in the first driving mechanism and for linear motion
Slide unit, the second driving mechanism being connect with Y-axis slide unit, be set in the second driving mechanism and X-axis slide unit for linear motion, with
The third driving mechanism of X-axis slide unit connection is set in third driving mechanism and Z axis slide unit for linear motion and is set to Z
End effector on axis slide unit and for picking up cargo, the moving direction of X-axis slide unit, Y-axis slide unit and Z axis slide unit mutually hang down
Directly.
The end effector includes the bracket connecting with the Z axis slide unit, the moveable lifting being set on bracket
Bracket is movably set to the pressure pin on bracket and for holding up cargo, the transmission with pressure pin and lifting support rotation connection
Bar, the lifting motor being set on bracket and the elevating drive mechanism being connect with lifting motor and lifting support, the shifting of pressure pin
The moving direction of dynamic direction and lifting support is perpendicular.
The pressure pin is arranged multiple and all pressure pins and is in sustained height position, and all pressure pins are arranged side by side.
Intelligent warehousing system of the invention, has the advantage that
1. intelligent warehousing system of the invention, for existing multiple rows of locker warehousing system, space utilization rate is big,
By displacement device to the displacement between two lockers, realizing multiple rows of locker only needs the channel accordingly conjugated；
A channel is required without each locker, greatly improves space utilization rate；
2. intelligent warehousing system of the invention it is mutual can to control each motor by single-chip microcontroller output and input signal
Cooperation running, realizes full-automatic stock and picking, work efficiency is high, and system operation is steadily reliable；
3. the storage chamber in the locker configured in intelligent warehousing system includes matter storage lattice of different specifications and sizes, can
The storage cargo of diversity and flexibility；When stock, can by controller collection at three-dimensional scanner cargo is swept
It retouches, identifies its size, and cargo size information can be converted to electric signal, then via controller processing unit processes, and from
The storage chamber being adapted therewith for cargo matching is moved, and controller can also send cargo size information to end effector with automatic
It adjusts end effector and the cargo for needing to access is adapted, controller is mounted on the human-computer interaction face of container access cargo；
4. facilitate entire intelligent warehousing system mobile and transfer by being equipped with universal wheel in the bottom of intelligent warehousing system,
It is also applied for the various working environments of indoor and outdoor simultaneously；And top is equipped with the solar panel of direction-adjustable, shines in sunlight section
The place penetrated is able to achieve entire intelligent warehousing system self-power supply, energy conservation and environmental protection.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram of intelligent warehousing system of the present invention；
Fig. 2 is the schematic diagram of internal structure of intelligent warehousing system of the present invention；
Fig. 3 is the structural schematic diagram of displacement device；
Fig. 4 is the partial structural diagram of displacement device；
Fig. 5 is the structural schematic diagram for depositing goods taking device；
Fig. 6 is the structural schematic diagram of end effector；
In the figure, it is marked as 1, castor；2, container；201, top cover；202, access port；203, side plate；204, bottom plate；3, it conjugates
Device；301, the first displacement motor；302, the second displacement motor；303, drive shaft；304, gear is driven；305, screw shaft；
306, nut seat；307, rack gear is conjugated；308, reinforcement bar；309, connecting rod；310, drive block；311, sliding shoe；312, it first cuts
Yoke；313, the second scissor arms；314, first back-moving spring；315, second back-moving spring；316, pull rod；4, goods taking device is deposited；
401, first motor；402, the first lead screw；403, Y-axis slide unit；404, the second motor；405, Z axis slide unit；406, third lead screw；
407, third motor；408, X-axis slide unit；409, the second lead screw；410, bracket；411, first support；412, second support；413,
Third bracket；414, lifting support；415, pressure pin；416, lifting motor；417, drive rod；418, elevating drive mechanism；5, too
Positive energy plate；6, cover board；7, locker.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
As shown in Figures 1 to 6, the present invention provides a kind of intelligent warehousing system, including container 2, for store cargo and
It is multiple lockers 7 arranged side by side inside container 2, for pick up cargo deposits goods taking device 4 and for controlling locker 7
It is moved to adjust the displacement device 3 of the distance between two neighboring locker 7, container 2 has the access for allowing cargo to pass through
Mouth 202.
Specifically, as depicted in figs. 1 and 2, container 2 is the rectangular box of inner hollow, all lockers 7 are to set side by side
It sets in the inner chamber body of container 2, all lockers 7 are sequentially arranged for the length direction along container 2.Locker 7, which has, places goods
The storage chamber of object, storage chamber are the rectangular cavities being arranged on locker 7, are provided with multiple storage chambers on locker 7.Locker
7 are vertically arranged, storage chamber locker 7 vertical side (the vertical side be vertically arranged and with first direction it is perpendicular
Plane) on formed opening, convenient for access cargo.Locker 7 is arranged to that inside container 2, straight line fortune can be done along first direction
Dynamic, first direction is horizontal direction and first direction is parallel with the length direction of container 2.Displacement device 3 and every adjacent two
A locker 7 connects, when being stored in cargo or take out cargo, need to by displacement device 3 by between two adjacent lockers 7 away from
From maximum rating is adjusted to, passes through convenient for depositing goods taking device 4 between two adjacent lockers 7, cargo is stored in storing
It is taken out from storage chamber in the storage chamber of cabinet 7 or by cargo.
As shown in Figure 1, container 2 mainly by bottom plate 204, the top cover being oppositely arranged with bottom plate 204 201 and is vertically installed in
Four side plates 203 composition on bottom plate 204, top cover 201 is located at the top of bottom plate 204 and top cover 201 is parallel with bottom plate 204,
Between top cover 201 and bottom plate 204, side plate 203 is vertically arranged four side plates 203, the upper end of side plate 203 and top cover 201
It is fixedly connected, the lower end of side plate 203 is fixedly connected with bottom plate 204, and four side plates 203 are in distributed rectangular, top cover 201 and bottom plate
204 be rectangular slab, and four side plates 203 are fixedly connected with a side of bottom plate 204 respectively.
As shown in Figures 1 to 4, displacement device 3 include the scissor type telescopic mechanism being connect with two adjacent lockers 7 and
It is connect with scissor type telescopic mechanism and for controlling the pushing handle telescopic control mechanism that scissor type telescopic mechanism is extended or shunk, scissor
Formula telescoping mechanism is arranged multiple and each scissor type telescopic mechanism and connect respectively with every two adjacent lockers 7, and scissor-type is stretched
One fewer than the sum of locker 7 of the sum of contracting mechanism.Pushing handle telescopic control mechanism is connect with all scissor type telescopic mechanisms, structure
It is compact, facilitate arrangement, pushing handle telescopic control mechanism can be controlled separately each scissor type telescopic mechanism in elongation state and contraction state
Between switch over, and then can be controlled separately the adjusting per the distance between two adjacent lockers 7.Scissor type telescopic machine
Structure includes the first scissor arms 312 and the second scissor arms 313, and the first scissor arms 312 are connect with pushing handle telescopic control mechanism, the first scissor arms
312 intersect rotation connection with the second scissor arms 313, form the scissor arms group of X-shaped.One end of first scissor arms 312 and flexible control
Mechanism rotation connection processed, the other end and locker 7 of the first scissor arms 312 are rotatablely connected.One end of second scissor arms 313 and phase
One of locker 7 in two adjacent lockers 7 is rotatablely connected, the other end of the second scissor arms 313 with adjacent two
Another locker 7 in locker 7 is slidably connected, the first scissor arms 312 and the second scissor arms 313 in the longitudinal direction in
Between be rotatablely connected at position, the rotation centerline of the first scissor arms 312 and the second scissor arms 313 is parallel with second direction, the
Two directions are horizontal direction and second direction and first direction are perpendicular, the length of the first scissor arms 312 and the second scissor arms 313
Direction is perpendicular with second direction.First scissor arms 312 and the second scissor arms 313 are located at the same side of locker 7, locker 7
With the guide groove for allowing the end of the second scissor arms 313 to be embedded in, the guide groove be in the outside wall surface of locker 7 along the vertical direction
The elongated slot of extension.
Angle when scissor type telescopic mechanism is in elongation state, between the first scissor arms 312 and the second scissor arms 313
In the smallest state, the distance between two adjacent lockers 7 are in maximum state；When scissor type telescopic mechanism is in
When contraction state, the angle between the first scissor arms 312 and the second scissor arms 313 is in maximum state, two adjacent storages
The distance between object cabinet 7 is in the smallest state.Using scissor type telescopic mechanism, can guarantee to adjust per two adjacent storings
Between cabinet apart from when, move more steady, mechanism is more firm；The scissor type telescopic mechanism converts longitudinal movement to simultaneously
The transverse shifting of locker changes the direction of motion；And bigger transverse shifting can be obtained with relatively small longitudinal movement, and
The mechanism will not generate dead-centre position, keep locker mobile flexible；Under the stiffness and strength needed for guaranteeing work, mechanism pair is reduced
The occupancy of free surrounding space, movement toward economizing space.
As shown in Figures 1 to 4, pushing handle telescopic control mechanism includes power assembly, switching mechanism, force-increasing mechanism and power transmitting machine
Structure, force-increasing mechanism are arranged multiple and each force-increasing mechanism and connect respectively with a scissor type telescopic mechanism, and power transfer mechanism is set
Multiple and each power transfer mechanism is set to connect with a force-increasing mechanism respectively, switching mechanism for control power assembly with it is each
Power transfer mechanism switches between bonding state and discrete state.Power assembly is for providing driving source, power assembly
It is connect with container 2 and power assembly is located in the inner chamber body of container 2.Power assembly includes drive shaft 303, is sheathed on drive shaft
Driving gear 304 on 303 and the first displacement motor 301 connecting with drive shaft 303, driving gear 304 and drive shaft 303 are same
Step rotates and driving gear 304 can be move alonged the axial direction relative to drive shaft 303.Drive shaft 303 is vertically arranged and drives
Axis 303 and container 2 are rotation connection, and container 2 provides a supporting role drive shaft 303, and the first displacement motor 301 and container 2 are solid
Fixed connection, the first displacement motor 301 and drive shaft 303 are located at the lower section of the top cover 201 of container 2, and the upper end of drive shaft 303 passes through
The motor axis connection of shaft coupling and the first displacement motor 301.Drive shaft 303 is splined shaft, and drive shaft 303 is equipped with external splines,
Drive gear 304 to be equipped with internal spline, driving gear 304 be sheathed in drive shaft 303 and drive internal spline on gear 304 with
External splines in drive shaft 303 is meshed, and driving gear 304 is roller gear and driving gear 304 and drive shaft 303 are coaxial
Setting, after the first displacement motor 301 operates, drive shaft 303 is able to drive driving gear 304 around its axis synchronous rotary.Switching
Mechanism, which is used to control, drives axial direction of the gear 304 in drive shaft 303 along drive shaft 303 to be moved, by external splines and interior
The cooperation of spline, 303 pairs of driving gears 304 of drive shaft can play guiding role, and driving gear 304 is as the dynamic of power assembly
Power is transferred to power transfer mechanism by power output block, and power is transferred to force-increasing mechanism by power transfer mechanism, finally by
The elongation and contraction of force-increasing mechanism realization scissor type telescopic mechanism.
As shown in Figures 1 to 4, power transfer mechanism includes the displacement rack gear 307 and reinforcement engaged with driving gear 304
Mechanism connects and is the reinforcement bar 308 being rotatably arranged on locker 7 and connect and with rack gear 307 is conjugated for reinforcement
Bar 308 applies the pull rod 316 for the pulling force for rotating it, and pull rod 316 and displacement rack gear 307 are horizontally disposed and pull rod 316 length
The axis perpendicular in direction and drive shaft 303 is spent, multiple power transfer mechanisms are to be sequentially arranged along the vertical direction.Conjugate rack gear
307 be spur rack, and the length direction for conjugating rack gear 307 and pull rod 316 is parallel with first direction, the length direction of pull rod 316
On one end with displacement rack gear 307 be fixedly connected, the other end on the length direction of pull rod 316 is connect with reinforcement bar 308.Displacement
Rack gear 307 with driving gear 304 be meshed, in a second direction, displacement rack gear 307 be located at driving gear 304 and locker 7 it
Between, driving gear 304 and displacement rack gear 307 constitute gear and rack teeth mechanism.7 pairs of displacement rack gears 307 of locker and pull rod 316 rise and lead
To effect, conjugates rack gear 307, pull rod 316 and reinforcement bar 308 and scissor type telescopic mechanism is located at the same side of locker 7.Reinforcement
Bar 308 has certain length, and the length direction and second direction of reinforcement bar 308 are perpendicular, the upper end of reinforcement bar 308 and reinforcement
Mechanism connection, the lower end of reinforcement bar 308 connect with the end of pull rod 316, and reinforcement bar 308 is at position between the ends and to store up
Object cabinet 7 is rotatablely connected, and the rotation centerline of reinforcement bar 308 is parallel with second direction.After first displacement motor 301 operates, drive
Moving axis 303 drives driving gear 304 around its axis synchronous rotary, drives gear 304 to engage with displacement rack gear 307, drives gear
304 push displacement rack gear 307 to move along first direction, and pull rod 316 and displacement 307 synchronizing moving of rack gear, pull rod 316 pull reinforcement
The lower end of bar 308, and then reinforcement bar 308 is swung, power is transferred to force-increasing mechanism by reinforcement bar 308.It is passed using this power
Pass mechanism, it is only necessary to which two displacement motors can be achieved with the mutual cooperation campaign of all lockers, and not have to each locker
Motor driven is configured, number of motors is reduced, reduces cost, simplifies the control management to motor；And pass through driving gear and change
The engaged transmission of position rack gear accurately can calculate and control distance between per two adjacent lockers, and movement is accurate, and can drop
Low vibration enables mechanism even running.
As shown in Figures 1 to 4, the quantity of power transfer mechanism and the quantity of scissor type telescopic mechanism are identical, i.e. profile shifted gear
Item 307, pull rod 316 and reinforcement bar 308 be respectively provided with it is multiple, all displacement rack gears 307 be sequentially arranged along the vertical direction, Suo Youzeng
Power bar 308 be sequentially arranged along first direction, driving gear 304 be arranged one, switching mechanism for control driving gear 304 with
The displacement rack gear 307 of each power transfer mechanism switches between bonding state and discrete state, and driving gear 304 is arranged
It is in meshing state at optionally rack gear 307 is conjugated with any one, and then can control corresponding locker 7 and moved
It is dynamic.The quantity of force-increasing mechanism and the quantity of power transfer mechanism are identical, and each power transfer mechanism passes through a power increasing machine respectively
Structure is connect with a scissor type telescopic mechanism.
As shown in Figures 1 to 4, force-increasing mechanism includes the drive block 310 being movably set on locker 7 and moves
The sliding shoe 311 for being arranged and being matched with drive block 310, the moving direction phase of the moving direction and drive block 310 of sliding shoe 311
Vertically, sliding shoe 311 is connect with scissor type telescopic mechanism, and drive block 310 is located at the top of scissor type telescopic mechanism and drive block
310 connect with power transfer mechanism.The moving direction of drive block 310 is parallel with first direction, drive block 310 and locker 7
To be slidably connected.Drive block 310 is matched with sliding shoe 311, constitutes wedge mechanism, and sliding shoe 311 is vertically arranged, drive block
310 have the drive surface contacted with sliding shoe 311, which is the tapered plane being obliquely installed on drive block 310, drive surface
Parallel with second direction, having angle and the angle before drive surface and first direction is acute angle.First scissor arms 312 are located at
The upper end of the lower section of drive block 310, the lower end of sliding shoe 311 and the first scissor arms 312 is rotatablely connected, sliding shoe 311 and storing
Cabinet 7 is to be slidably connected and sliding shoe 311 and drive block 310 are arranged on the same locker 7, lower end and the phase of the first test section
Adjacent another locker 7 rotation connection.The upper end of reinforcement bar 308 is connect by connecting rod 309 with drive block 310, drive block 310
Between sliding shoe 311 and connecting rod 309, the upper end of one end of connecting rod 309 and reinforcement bar 308 is rotatablely connected, connecting rod 309 it is another
One end and drive block 310 are rotatablely connected.When reinforcement bar 308 is swung, drive block 310 can be pushed along first party by connecting rod 309
To for linear motion.Drive block 310 along first direction it is for linear motion after, sliding shoe 311 can be pushed vertically downwards
Mobile, sliding shoe 311 pushes the upper end of the first scissor arms 312 to move down simultaneously, and then the first scissor arms 312 are rotated,
First scissor arms 312 drive 313 synchronous rotary of the second scissor arms, finally scissor type telescopic mechanism are extended.Using this
Kind force-increasing mechanism, expands the size of drive block power, reduces the output power of the first displacement motor 301, while reasonable
Reinforcement bar is set using the profile height of locker, makes mechanism compact and reasonable, principle is simple；With company between reinforcement bar and drive block
Bar connection, constitutes slider-rocker mechanism, keeps drive block movement unique, and can pass through the self-locking implementation mechanism self-lock protection of motor；It drives
Motion block uses bevel-faced form, can steadily push scissor arms, keeps mechanism operation more stable.
Preferably, the upper end of sliding shoe 311 is equipped with the idler wheel being in contact with the drive surface of drive block 310, idler wheel is
Rotatable setting, when relative motion occurs for drive block 310 and sliding shoe 311, idler wheel can be rolled in drive surface, with
Reduce the friction between sliding shoe 311 and drive block 310.
As shown in Figures 1 to 4, switching mechanism include the second displacement motor 302, with the second spiral shell for connecting of displacement motor 302
It bar axis 305 and is sheathed in drive shaft 303 and is the nut seat 306 being threadedly coupled with screw shaft 305, the second displacement motor 302
When operating, driving gear 304 is pushed by nut seat 306 and the axial direction along drive shaft 303 is moved.Screw shaft 305 is vertical
Setting and screw shaft 305 and container 2 are to be rotatablely connected, and container 2 provides a supporting role screw shaft 305, the second displacement motor 302
Be fixedly connected with container 2, second displacement motor 302 and screw shaft 305 be located at container 2 top cover 201 lower section, screw shaft 305
Upper end by shaft coupling with second conjugate motor 302 motor axis connection.The outer surface of screw shaft 305 is equipped with external screw thread, spiral shell
Base 306 is sheathed on screw shaft 305 and nut seat 306 and screw shaft 305 constitute worm drive, and the second displacement motor 302 is transported
After turning, screw shaft 305 is rotated about the axis thereof, and nut seat 306 can be driven to move in a straight line along the vertical direction, and nut seat 306 is same
When drive driving gear 304 moved along the axial direction of drive shaft 303.Nut seat 306 is U-shaped structure, and driving gear 304 is located at
In the inner chamber body of nut seat 306, one end of nut seat 306 is sheathed on screw shaft 305, and the other end of nut seat 306, which is equipped with, to be allowed
The end of through-hole and nut seat 306 that drive shaft 303 passes through is the opening end of U-shaped, which is the straight of circular hole and through-hole
Diameter is identical as the overall diameter size of drive shaft 303 being provided at the position of external splines, and drive shaft 303 plays nut seat 306
Guiding role.Using leadscrew-nut mechanism, the height and position of the stop of sliding tooth wheel 304 after adjustment can be made, and can make to drive
Locking at the height and position of moving gear 304 after adjustment, it is ensured that driving gear 304 operates normally, high reliablity.It is cut using this
It changes planes structure, drives nut seat 306 that the height of nut seat can be accurately positioned by the second displacement motor 302, accurately make to drive
Gear is engaged with corresponding rack gear, to accurately make corresponding locker mobile, the mechanism is succinct, easily arranges, at low cost, real
Show and only provides power with the movement that one first displacement motor 301 is all lockers.
As shown in Figure 2, Figure 5 and Figure 6, deposit goods taking device 4 include the first driving mechanism, be set in the first driving mechanism and
Y-axis slide unit for linear motion, is set in the second driving mechanism and makees straight line the second driving mechanism connecting with Y-axis slide unit
The X-axis slide unit of movement, is set to Z in third driving mechanism and for linear motion at the third driving mechanism connecting with X-axis slide unit
Axis slide unit and the end effector for being set on Z axis slide unit and be used to pick up cargo.Deposit the end effector of goods taking device 4 X,
Y, it is moved on Z three degree of freedom, end effector is moved freely in its stroke space at an angle, met
Pickup to cargo and requirement is put, motion range is wide.First driving mechanism is for doing Y-axis slide unit 403 along the y axis back and forth
Linear motion, for making X-axis slide unit 408 do linear reciprocating motion along the x axis, third driving mechanism is used for the second driving mechanism
Z axis slide unit 405 is set to do linear reciprocating motion along Z-direction, X-direction is horizontal direction and, Y-axis side parallel with first direction
To for horizontal direction and parallel with second direction, Z-direction is vertical direction, and X-axis slide unit 408, Y-axis slide unit 403 and Z axis are sliding
The moving direction of platform 405 is mutually perpendicular to.
As shown in Figure 2, Figure 5 and Figure 6, the first driving mechanism include the first support 411 being fixedly installed on container 2, can
Rotation the first lead screw 402 being set in first support 411 and be set in first support 411 and with the first lead screw 402 company
The first motor 401 connect, Y-axis slide unit 403 be sheathed on the first lead screw 402 and with the first lead screw 402 constitute worm drive, first
Motor 401 generates the power for rotating the first lead screw 402, after first motor 401 operates, the rotation of the first lead screw 402, and then drive
Dynamic Y-axis slide unit 403 is moved in a straight line along Y-axis.
Second driving mechanism includes the second support 412 being movably arranged, is rotatably arranged on second support 412 and Y
The second lead screw 409 on axis slide unit 403 and the second motor for being set in second support 412 and being connect with the second lead screw 409
404, X-axis slide unit 408 is sheathed on the second lead screw 409 and constitutes worm drive with the second lead screw 409, and the second motor 404 generates
The power for rotating the second lead screw 409.Second support 412 and Y-axis slide unit 403 are that positioned opposite and second support 412 and Y-axis are sliding
Platform 403 is on the same straight line parallel with first direction, and second support 412 and Y-axis slide unit 403 are respectively in the second lead screw
409 one end provides a supporting role the second lead screw 409, and container 2 is equipped with and leads to second support 412 play the guiding role first
To bar, the first guide rod is parallel with the first lead screw 402, and second support 412 is sheathed on first guide rod, first guiding
Bar is located at the lower section of top cover 201 and is fixedly connected with top cover 201.After the operating of the second motor 404, the rotation of the second lead screw 409, into
And X-axis slide unit 408 is driven to move in a straight line along X-axis.
Third driving mechanism includes the third bracket 413 being fixedly installed on container 2, is rotatably arranged on third bracket
Third lead screw 406 on 413 and the third motor 407 for being set on X-axis slide unit 408 and connecting with third lead screw 406, Z axis are sliding
Platform 405 is sheathed on third lead screw 406 and constitutes worm drive with third lead screw 406, and the generation of third motor 407 makes third lead screw
The power of 406 rotations, third bracket 413 are located at the lower section of Z axis slide unit 405.X-axis slide unit 408 is equipped with for Z axis slide unit
405 the second guide rods playing the guiding role, second guide rod are vertically arranged and are located at the side of third lead screw 406, and Z axis is sliding
Platform 405 is sheathed on the second guide rod, and the upper end of the second guide rod is fixedly connected with X-axis slide unit 408 and the second guide rod is towards X
The lower section of axis slide unit 408 extends.When third motor 407 operate after, third lead screw 406 rotate, and then drive Z axis slide unit 405 and
End effector thereon is moved in a straight line along Z axis.
As shown in Figure 2, Figure 5 and Figure 6, end effector includes the bracket 410 connecting with Z axis slide unit 405, movably sets
The lifting support 414 that is placed on bracket 410, be movably set to pressure pin 415 on bracket 410 and for holding up cargo, with
Drive rod 417 that pressure pin 415 and lifting support 414 are rotatablely connected, the lifting motor 416 being set on bracket 410 and with liter
The elevating drive mechanism 418 that motor 416 and lifting support 414 connect, moving direction and the lifting support 414 of pressure pin 415 drop
Moving direction is perpendicular, and pressure pin 415 is arranged to be moved in a second direction.Bracket 410 is fixedly connected with Z axis slide unit 405,
Lifting support 414 and bracket 410 be to be slidably connected and the moving direction of lifting support 414 is vertical direction, and 410 pairs of bracket go up and down
Bracket 414 play the guiding role.Lifting motor 416 is to be fixed on bracket 410, and lifting motor 416 makes to go up and down for providing
Bracket 414 carries out mobile driving force along the vertical direction, and the axis of lifting motor 416 is parallel with first direction, lifting and driving
Mechanism 418 is preferably gear and rack teeth mechanism, and the rack gear of elevating drive mechanism 418 is fixedly connected with lifting support 414, lifting and driving
The gear of mechanism 418 is fixedly connected with the motor shaft of lifting motor 416.Pressure pin 415 is located at the lower section of lifting support 414, transmission
Between lifting support 414 and pressure pin 415, the upper end of drive rod 417 and the lower end of lifting support 414 are rotatablely connected bar 417,
The lower end of drive rod 417 and pressure pin 415 are rotatablely connected.Pressure pin 415 has certain length, the length direction of pressure pin 415 and the
One direction is parallel, and pressure pin 415 is stretched out towards the outside of bracket 410, facilitates the storage chamber for holding up cargo and being inserted into locker 7
In.Bracket 410 has the sliding slot for allowing the end of pressure pin 415 to be embedded in, which is the length extended in a second direction on bracket 410
Slot, bracket 410 play guiding role to pressure pin 415.
Preferably, multiple and all pressure pins 415, which are arranged, in pressure pin 415 is in sustained height position, all pressure pins 415 are
It is arranged side by side, position-adjustable of the pressure pin 415 on bracket 410, and then the distance between two neighboring pressure pin 415 is adjustable
Section is suitable for holding up various sizes of cargo, improves stability and reliability, and cargo is fallen when avoiding end effector mobile.
In the present embodiment, pressure pin 415 is arranged two, and the quantity of drive rod 417 is identical as the quantity of pressure pin 415, each drive rod 417
Lower end be rotatablely connected respectively with pressure pin 415, the upper end of each drive rod 417 is rotated with the lower end of lifting support 414
Connection.
Above structure to deposit 4 structure of goods taking device simple, it is easy to operate, it is at low cost, can be with save the cost, the access of use
Goods device is matched with end effector, be can be realized the automatic storage of cargo ball and is taken out, improves work efficiency, Er Qiecun
Goods taking device uses screw mechanism, and stability is good, high reliablity, can be realized accurate positionin when cargo is put, easily controllable
Each cargo is put on locker 7 by the position of setting.
As shown in Figure 1, intelligent warehousing system of the invention further includes the solar panels 5 being set on container 2, solar panels
5 are located at the top of container 2 and solar panels 5 are fixedly connected with top cover 201, on container 2 and equipped with electric power storage for storing electric energy
Pond.The bottom of container 2 is equipped with castor 1, and castor 1 is fixedly connected with the bottom plate 204 of container 2, and castor 1 is arranged multiple, and castor 1 can be with
It rolls, castor 1 provides container 2 stable supporting role, and is integrally moved convenient for intelligent warehousing system.
As shown in Figure 1, the side plate 203 of container 2 is equipped with the access port 202 for allowing cargo to pass through, which is rectangle
Hole and access port 202 are along plate thickness direction on the side plate 203 of container 2 on the through-hole being arranged, the side plate 203 and equipped with one
A cover board 6 for latch access port 202, the area of cover board 6 are not less than the area of access port 202, cover board 6 with 203 turns of side plate
The rotation centerline of dynamic connection and cover board 6 is parallel with first direction, and cover board 6 can be rotated up and down, and realizes opening for access port 202
Close control.The end effector for depositing goods taking device 4 can move back and forth between access port 202 and the storage chamber of locker 7, realize
The access of cargo.
As shown in Figure 3 and Figure 4, pushing handle telescopic control mechanism further includes for switching scissor type telescopic mechanism by elongation state
To the first back-moving spring 314 of contraction state, first back-moving spring 314 be set on locker 7 and first back-moving spring 314 with
The upper end of first scissor arms 312 or sliding shoe 311 connect, first back-moving spring 314 be used for the upper ends of the first scissor arms 312 or
Sliding shoe 311 applies the active force moved it up, pushes the first scissor arms 312 and sliding shoe 311 to be resetted, sliding shoe
311 promotion drive blocks 310 are moved, and the final reset for realizing locker 7, locker 7 returns to initial position, two neighboring storage
The distance between object cabinet 7 is in minimum state, and locker 7 and locker 7 rely closely, and improves space utilization rate.First is multiple
Position spring 314 is preferably cylindrically coiled spring and is pressure spring, and first back-moving spring 314 is clipped in locker 7 and the first scissor arms 312
Upper end between.Pushing handle telescopic control mechanism further include for displacement rack gear 307 apply pulling force second back-moving spring 315, second
Reset spring 315 is connect with locker 7 and displacement rack gear 307, the pulling force that 315 pairs of second back-moving spring displacement rack gears 307 apply
So that displacement rack gear 307 is during scissor type telescopic mechanism switches to contraction state by elongation state towards close to reinforcement bar
308 direction is moved, and realizes the reset of displacement rack gear 307 and pull rod 316.Second back-moving spring 315 is preferably tension spring.
As shown in Figure 3 and Figure 4, for every two adjacent lockers 7, between one of locker 7 and power assembly
Distance be less than the distance between another locker 7 and power assembly, i.e., a locker 7 is closer apart from power assembly, separately
Farther out apart from power assembly, reinforcement bar 308, drive block 310, sliding shoe 311 and first back-moving spring 314 are set one locker 7
Be placed on the closer locker 7 of power assembly, the lower end of the second scissor arms 313 with apart from the closer locker of power assembly
The upper end of 7 connections, the lower end of the first scissor arms 312 and the second scissor arms 313 connects with apart from the farther away locker 7 of power assembly
It connects.All displacement rack gears 307 of pushing handle telescopic control mechanism are all set in storing nearest apart from power assembly in all lockers 7
On cabinet 7.
Intelligent warehousing system of the invention further includes controller, scanner and miniature bar code printer, the first displacement motor
301, the second displacement motor 302, first motor, the second motor, third motor and lifting motor 416 are under control of the controller,
First displacement motor 301, second conjugates motor 302, first motor, the second motor, third motor and lifting motor 416 and is preferably
Stepper motor.Scanner and miniature bar code printer are set on container 2, printer be for printing storing bar code receipt,
Scanner is for being scanned to the bar code on storing bar code receipt, and bar code is stored with code scaning information, code scaning information
The coordinate information of some storage chamber in locker 7 is stored in for cargo.The structure of scanner and miniature bar code printer is such as this
As well known to the technical staff of field, details are not described herein.
The stock process of intelligent warehousing system of the present invention is as follows: when needing stock, first at the access port 202 of container 2
Cargo is placed in and deposits goods taking device 4, goods taking device 4 is then deposited and brings into operation, by goods handling to specified locker 7
Place；Displacement device 3 is run, and displacement device 3 makes the distance between specified locker 7 and adjacent locker 7 in maximum shape
State finally accesses goods dress and places goods on specified locker 7.
The picking process of intelligent warehousing system of the present invention is as follows: when needing picking, displacement device 3 is run first, displacement dress
Setting 3 makes the distance between specified locker 7 and adjacent locker 7 in maximum rating；Deposit the operation of goods taking device 4, access
Goods dress removes cargo from specified locker 7, then deposits goods taking device 4 for the access port 202 of goods handling to container 2
Place finally takes out cargo at access port 202.
During the stock of above-mentioned intelligent warehousing system and picking, specified locker 7 passes through with adjacent locker 7
Scissor type telescopic mechanism connection is pushed specified locker 7 mobile by scissor type telescopic mechanism or is pushed and specified locker 7
Adjacent locker 7 is mobile.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. intelligent warehousing system, it is characterised in that: including container, for store cargo and container interior be arranged side by side it is more
A locker, for picking up depositing goods taking device and being moved for controlling locker to adjust two neighboring locker for cargo
The distance between displacement device.
2. intelligent warehousing system according to claim 1, it is characterised in that: the displacement device includes and adjacent two
The scissor type telescopic mechanism and connect with scissor type telescopic mechanism and be used to control scissor type telescopic mechanism that the locker connects
The pushing handle telescopic control mechanism for being extended or being shunk, scissor type telescopic mechanism setting is multiple and each scissor type telescopic mechanism respectively with
It is connected per two adjacent lockers.
3. intelligent warehousing system according to claim 2, it is characterised in that: the pushing handle telescopic control mechanism includes that power is total
At, switching mechanism, force-increasing mechanism and power transfer mechanism, force-increasing mechanism setting is multiple and each force-increasing mechanism respectively with an institute
State scissor type telescopic mechanism connection, power transfer mechanism setting is multiple and each power transfer mechanism respectively with a force-increasing mechanism
Connection, switching mechanism is used to control power assembly and each power transfer mechanism is cut between bonding state and discrete state
It changes.
4. intelligent warehousing system according to claim 3, it is characterised in that: the power assembly includes drive shaft, is arranged
Motor, driving gear and drive shaft synchronous rotary and drive are conjugated in the driving gear in drive shaft and with the first of driving axis connection
Moving gear can be move alonged the axial direction relative to drive shaft.
5. intelligent warehousing system according to claim 4, it is characterised in that: the power transfer mechanism includes and the drive
The displacement rack gear of moving gear engagement connect with the force-increasing mechanism and is the reinforcement bar being rotatably arranged on the locker
It is connect with displacement rack gear and the pull rod for applying the pulling force for rotating it to reinforcement bar, pull rod and displacement rack gear sets for level
It sets and the axis perpendicular of the length direction of pull rod and the drive shaft, multiple power transfer mechanisms are successively cloth along the vertical direction
It sets.
6. intelligent warehousing system according to claim 4 or 5, it is characterised in that: the force-increasing mechanism includes moveable
The drive block being set on the locker and the sliding shoe for being movably arranged and being matched with drive block, the mobile side of sliding shoe
To perpendicular with the moving direction of drive block, sliding shoe is connect with the scissor type telescopic mechanism, and drive block is stretched positioned at scissor-type
The top of contracting mechanism and drive block is connect with the power transfer mechanism.
7. according to any intelligent warehousing system of claim 4 to 6, it is characterised in that: the switching mechanism includes second
It conjugates motor, the screw shaft connecting with the second displacement motor and is sheathed in the drive shaft and is threadedly coupled with screw shaft
Nut seat, when the second displacement motor operates, the driving gear is pushed by nut seat and the axial direction along drive shaft is moved.
8. intelligent warehousing system according to any one of claims 1 to 7, it is characterised in that: the goods taking device of depositing includes the
One driving mechanism, be set in the first driving mechanism and Y-axis slide unit for linear motion, connect with Y-axis slide unit second driving
Mechanism, be set in the second driving mechanism and X-axis slide unit for linear motion, connect with X-axis slide unit third driving mechanism, set
It is placed in third driving mechanism and Z axis slide unit for linear motion and is set to the end on Z axis slide unit and for picking up cargo
The moving direction of actuator, X-axis slide unit, Y-axis slide unit and Z axis slide unit is mutually perpendicular to.
9. intelligent warehousing system according to claim 8, it is characterised in that: the end effector includes and the Z axis
The bracket of slide unit connection, is movably set on bracket and for holding up the lifting support being movably set on bracket
The pressure pin of cargo, the drive rod being rotatablely connected with pressure pin and lifting support, the lifting motor being set on bracket and with lifting
The elevating drive mechanism that motor is connected with lifting support, the moving direction of pressure pin and the moving direction of lifting support are perpendicular.
10. intelligent warehousing system according to claim 9, it is characterised in that: multiple and all pressure pins are arranged in the pressure pin
In sustained height position, all pressure pins are arranged side by side.
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| CN201810900341.2A CN109018811B (en) | 2018-08-09 | 2018-08-09 | Intelligent warehousing system |
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| CN201810900341.2A CN109018811B (en) | 2018-08-09 | 2018-08-09 | Intelligent warehousing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113998362A (en) * | 2021-11-11 | 2022-02-01 | 滨州学院 | Warehouse logistics multilayer sorting system classified according to size |
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|---|---|
| CN109018811B (en) | 2020-07-14 |
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